In-vehicle image display apparatus

ABSTRACT

An in-vehicle image display apparatus for use in a vehicle is provided which includes a state detecting device that detects a state of surroundings of the vehicle; a display device that is provided at least in an entire front window section of the vehicle and capable of displaying information over the entire window section; an image generating device that generates image data for displaying a image of surroundings of the vehicle on the display device based on detection results from the state detecting device; and a display control device that makes the display device display an image represented by the image data generated by the image generating device.

This application is a division of U.S. application Ser. No. 13/205,040,now U.S. Pat. No. 8,237,580, which is a division of U.S. applicationSer. No. 12/912,268, now U.S. Pat. No. 8,022,836, which is a division ofU.S. application Ser. No. 12/063,787, now U.S. Pat. No. 7,847,705, whichis a National Stage completion of PCT/JP2006/315669 filed on Aug. 8,2006, which claims priority from Japanese Application No. 2005-238746filed on Aug. 19, 2005.

This invention relates to an in-vehicle image display apparatus thatdisplays an image in a window section of a vehicle of a bus, a taxi, aprivate car or the like.

BACKGROUND ART

One of the conventional causes for vehicle-related accidents such as anaccident between vehicles, an accident between a vehicle and apasser-by, etc. is considered an oversight or a misjudgment by a driveron a passer-by, another vehicle, an obstruction or the like in thesurroundings of the vehicle, for example due to low visibility by theweather (rain, snow, etc.) or temporary decreased vision of the driverby eyestrain and others. That is, the driver is unable to have a correctunderstanding of the state of the surroundings of the vehicle. Thus,there is a delay in risk aversion, which leads to an accident. To put itthe other way around, if the driver can have a correct understanding ofthe state of the surroundings of the vehicle, an accident can beavoided.

A conventionally known image display device can project an outside stateor landscape on a window glass of a vehicle (see Patent Document 1, forexample).

The image display device described in this Patent Document 1 includes anobservation device that observes a state of the vehicle (position,velocity, and others), and an accumulation device that preaccumulatesimage information of outside landscapes. Based on information indicatinga position of the vehicle observed by the observation device, imageinformation of a landscape which can be possibly seen outside thevehicle at an observed position is obtained from the accumulationdevice. An image represented by the image information is displayed on awindow glass. Map information such as a name of a place, a name of ariver, a name of a mountain, etc. can be also displayed. The displayedimage can be also sequentially switched according to velocity based onvelocity information of the vehicle. As such, one of the image displaydevices can display on a window glass of a vehicle a landscape image ofthe surroundings of the vehicle.

Patent Document 1: Unexamined Japanese Patent Publication No. 2004-20223

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention

In the conventional image display device as mentioned above, landscapeimages preaccumulated in the accumulation device are displayed on thewindow glass of the vehicle. Landscape images outside the currentlymoving vehicle cannot be displayed. Also, as noted above, if there islow visibility by the weather or temporary decreased vision of thedriver, the driver is unable to have a correct understanding of thestate of the surroundings. Risk of driving, that is, probability that anaccident may occur, is increased. Accordingly, in order to inhibit anaccident, it is necessary to display an image of the surroundings of themoving vehicle in realtime.

An object of the present invention, which was made in view of the aboveproblem, is to accurately replicate the state of the surroundings of avehicle by an image and display the image in a window section of thevehicle, so that a driver can safely drive the vehicle.

Means to Solve the Problems

The invention which was made to solve the above problem is an in-vehicleimage display apparatus for use in a vehicle. The in-vehicle imagedisplay apparatus includes: a state detecting device that detects astate of surroundings of the vehicle; a display device that is providedat least in an entire front window section of the vehicle and capable ofdisplaying information over the entire window section; an imagegenerating device that generates image data for displaying an image ofthe surroundings of the vehicle on the display device based on detectionresults from the state detecting device; and a display control devicethat makes the display device display an image represented by the imagedata generated by the image generating device.

In the in-vehicle image display apparatus, the state of the surroundingsof the vehicle is detected by the state detecting device. Based on thedetection results, the image data representing the image of thesurroundings of the vehicle is generated by the image generating device.The image represented by the image data generated by the imagegenerating device is then displayed on the display device provided atleast in the entire front window section of the vehicle.

According to the in-vehicle image display apparatus, the imagerepresenting the state of the surroundings of the vehicle is displayedin the window section of the vehicle. Thus, a driver can reliablyunderstand the state of the surroundings of the vehicle. That is, thein-vehicle image display apparatus can be designed to display an imagewhich is easy for the driver to view, for example by highlighting animage with a moving object, based on the detection results from thestate detecting device. Thus, the driver can easily recognize contentsof the image, that is, the state of the surroundings. Also, even animage representing the state far away from the vehicle can be displayedin the window section which is close to the driver. Thus, it is easy forthe driver to view the image, and easy to understand the far away state.In this manner, the driver can reliably understand the state of thesurroundings of the vehicle. Occurrence of an accident due to a delay indanger avoidance can be reliably inhibited. The in-vehicle image displayapparatus can be designed such that the state detecting device detectsat least an object present in the surroundings.

In the in-vehicle image display apparatus, it is preferable, that thedisplay device is capable of being switched between a window state inwhich scenes inside and outside the vehicle are viewable through thedisplay device by letting lights from inside and outside of the vehiclepass through, and a display state in which the lights from the insideand outside of the vehicle are blocked so that an image can be displayedby the display control device. It is preferable that the display controldevice switches a state of the display device to the display state tomake the display device display an image represented by the image datagenerated by the image generating device.

In the in-vehicle image display apparatus, the display device in thewindow section of the vehicle can be switched between the window statein which the scene on the opposed side is viewable like an ordinarywindow and the display state in which an image is displayed.

According to the in-vehicle image display apparatus, only when the imagein the surroundings of the vehicle is to be displayed, the displaydevice is switched into the display state. When an image is not to bedisplayed, the display device is switched into the window state like anordinary window. Accordingly, it is easy for the driver or the passengerto use.

In the in-vehicle image display apparatus, the display device may bealso provided in side and rear window sections of the vehicle.Specifically, in case that the state of the display device can beswitched as in the in-vehicle image display apparatus, it is preferablethat the display device is designed to be capable of switching the stateof the display device between the window state and the display state ineach window section.

According to the in-vehicle image display apparatus, information can bedisplayed in all the window sections of the vehicle. Since an imagerepresenting the state of the surroundings of the vehicle can bedisplayed in all the window sections of the vehicle, the driver candrive the vehicle more safely by the reasons as noted above. Moreover,the display device of each window section is switchable between thewindow state like an ordinary window and the display state in which animage is displayed. Accordingly, it is possible to switch the state ofthe display device to the ordinary window state per window section sothat the passenger can enjoy a real landscape. The passenger's needs toenjoy a real landscape can be also satisfied.

In the in-vehicle image display apparatus, it is preferable that thedisplay control device switches the state of the display device betweenthe window state and the display state based on an input from apassenger of the vehicle.

According to the in-vehicle image display apparatus, the passenger canswitch the state of the display device of the window section(s) of thevehicle between the display state and the window state freely. Thus, itis convenient for the passenger.

The in-vehicle image display apparatus may include a driving statedetecting device that detects at least one of a velocity, a movingdirection, or a braking state of the vehicle, and the display controldevice may be designed to switch the state of the display device betweenthe window state and the display state based on detection results fromthe driving state detecting device.

According to the in-vehicle image display apparatus, the state of thedisplay device is switched in accordance with the driving state of thevehicle regardless of intention of the driver. For example, the displaydevice in the window section(s) may be designed to switch the state ofthe display device to the display state and display an image of thesurroundings when the velocity of the vehicle is over a certainvelocity. Also, the display device in the window section(s) may bedesigned to switch the state of the display device to the ordinarywindow state when the vehicle is stopped.

That is, for example, when the velocity of the vehicle is over a certainvelocity as noted above, it may become difficult for the driver tounderstand the state of the surroundings. At that time, however, animage of the surroundings may be displayed in the window section(s) sothat the driver can understand the state of the surroundings.Accordingly, the driver can drive the vehicle more safely. Also, if thestate of the window section is switched to the ordinary window statewhen the vehicle is stopped, the passenger can fully enjoy a reallandscape.

In the in-vehicle image display apparatus, it is preferable that thedisplay control device makes the display device display an image ofrearward surroundings of the vehicle when the vehicle moves backward.

According to the in-vehicle image display apparatus, a rearward image ofthe vehicle is displayed in the window section when the driver moves thevehicle backward. Thus, the driver can drive the vehicle more safely.The window section where the rearward image of the vehicle is displayedmay be the front window section or the rear window section of thevehicle. Furthermore, the rearward image may be displayed in the sidewindow section(s) or all the window sections.

It is preferable that the in-vehicle image display apparatus includes asound output device that outputs sounds of the surroundings of thevehicle based on the detection results from the state detecting device.

According to the in-vehicle image display apparatus, sounds areoutputted from the sound output device in addition to the image of thesurroundings of the vehicle. Therefore, the state of the surroundings ofthe vehicle is reproduced more realistically. The driver can have a moreaccurate understanding of the state of the surroundings of the vehicle.

It is preferable that the in-vehicle image display apparatus includes astorage device that stores the image data generated by the imagegenerating device.

According to the in-vehicle image display apparatus, the image data isstored in the storage device. Thus, the image data can be read so thatan image represented by the image data can be seen even after driving.Accordingly, it is convenient for the passenger.

It is preferable that, in the in-vehicle image display apparatus, theimage generating device generates the image data such that a passer-byor another vehicle in the surroundings of the vehicle is highlighted bythe display device.

According to the in-vehicle image display apparatus, the image isgenerated such that the driver can easily recognize the passer-by,another vehicle, or the like in the surroundings of the vehicle. Thus,the driver is forced to pay attention to the passer-by and othervehicle. That is, it is possible to call attention of the driver.

It is preferable that, in the in-vehicle image display apparatus, thedisplay device is capable of displaying information on both inside andoutside faces of the vehicle and the display control device makes thedisplay device display an image different from the image represented bythe image data generated by the image generating device on the outsideface of the display device.

According to the in-vehicle image display apparatus, an image can bedisplayed on each face of the display device. Thus, for example, it ispossible to display an image of the surroundings on the inside face asnoted above, and to display a message, etc. to a driver of anothervehicle, a passer-by, etc. on the outside face. Smooth traffic can befurther achieved by displaying a message and promoting communicationwith people in the surroundings in this manner. Advertisement may bealso displayed on the outside face.

It is preferable that the in-vehicle image display apparatus includes areading device that reads image data recorded on a recording medium, andthe display control device makes the display device display an imagerepresented by the image data read from the recording medium by thereading device.

According to the in-vehicle image display apparatus, the imagerepresented by the image data recorded on the recording medium can bealso displayed in the window section(s). Thus, it is easy for thepassenger to use.

It is preferable that the in-vehicle image display apparatus includes: acollision determining device that determines whether the vehicle isincapable of avoiding a collision with another vehicle based ondetection results from the state detecting device; a probabilitydetermining device that, if it is determined by the collisiondetermining device that the collision with another vehicle isunavoidable, determines whether there is a collidable static object fromamong static objects except for the other vehicle based on the detectionresults from the state detecting device; and a vehicle control devicethat, if it is determined by the probability determining device thatthere is a collidable static object, controls the vehicle to collidewith the static object.

Specifically, the vehicle control device may control a brake, an outputof a power source (an internal combustion engine, a motor, and others,for example) and a rudder angle of the vehicle.

In the vehicle provided with the in-vehicle image display apparatus, ifthere is a condition that a collision with another vehicle in thesurroundings is inevitable, a possibly collidable object except for theother vehicle is searched. If there is such an object, the vehicle iscontrolled to collide with the object. That is, a collision with anothervehicle is avoided even though the vehicle collides with the objectother than the other vehicle, to limit the damage. According to thisin-vehicle image display apparatus, the damage by the collision can belimited to a minimum.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 an appearance diagram showing an appearance of a vehicle providedwith an in-vehicle image display apparatus.

FIG. 2 a block diagram showing a structure of the in-vehicle imagedisplay apparatus.

FIG. 3 a flowchart illustrating a flow of a process executed by a CPU ofthe in-vehicle image display apparatus.

FIG. 4 a flowchart illustrating a flow of a process executed by adrawing processor of the in-vehicle image display apparatus.

FIG. 5 a flowchart illustrating a flow of a collision lightening processexecuted by the CPU of the in-vehicle image display apparatus.

FIG. 6 a view showing a state in which an image is displayed in a windowsection of the vehicle.

FIG. 7 a block diagram showing a structure of an in-vehicle imagedisplay apparatus of a second embodiment.

FIG. 8 a view showing a state in which an image is displayed in a windowsection of the vehicle (the second embodiment).

FIG. 9 a block diagram showing a structure of an in-vehicle imagedisplay apparatus of a third embodiment.

EXPLANATION OF REFERENCE NUMERALS

-   1 . . . vehicle, 2 . . . frame section, 5 . . . in-vehicle image    display apparatus, 10 . . . infrared sensor, 12 . . . millimeter    wave radar, 14 . . . ultrasonic wave sensor, 16 . . . CCD camera, 18    . . . microphone, 20, 22 . . . I.O, 24 . . . CCD I/F, 30 . . . CPU,    32 . . . ROM, 34 . . . RAM, 36 . . . HDD, 37 . . . reader, 38 . . .    frame memory, 39 . . . drawing processor, 40 . . . display glass    panel, 42 . . . speaker, 44 . . . operating section, 45 . . .    projector, 50 . . . bus, 80 . . . detecting unit, 90 . . .    in-vehicle unit, 95 . . . input/output section.

BEST MODE FOR CARRYING OUT THE INVENTION

An embodiment of the present invention will be explained hereafter, byway of the drawings.

[First Embodiment]

FIG. 1 is an appearance diagram showing an appearance of a vehicle 1provided with an in-vehicle image display apparatus 5 (see FIG. 2) ofthe present embodiment. As shown in FIG. 1, a detecting unit 80 of thein-vehicle image display apparatus 5 for detecting the state of thesurroundings of the vehicle 1 is provided at a plurality of positionsoutside the body of the vehicle 1. This detecting unit 80 detects thestate of the surrounding scene, surrounding people, other vehicle(hereinafter, also referred to as other vehicle), obstruction andothers, as the state of the surroundings of the vehicle 1. Although notshown in FIG. 1, an in-vehicle unit 90 (see FIG. 2) composing thein-vehicle image display apparatus 5 is provided inside the vehicle 1aside from the detecting unit 80. Based on detection results from thedetecting unit 80, an image representing the state of the surroundingsof the vehicle 1 is generated by the in-vehicle unit 90.

Specifically, in the present embodiment, display glass panel 40 that iscapable of displaying an image on the overall window section is providedin all the window sections of the vehicle 1. This display glass panel 40is designed to be switched between a display mode and an ordinary mode.The display mode functions as a liquid crystal display and allowsdisplay of an image. The ordinary mode is a transparent state like anordinary window and allows viewing of scenes over the window. An imageof the surroundings of the vehicle 1 generated by the in-vehicle unit 90is displayed on the display glass panel 40. The display glass panel 40displays the image of the surroundings of the vehicle 1 on a facecorresponding to the inside of the vehicle 1 in order to allow viewingfrom the inside of the vehicle 1. In the present embodiment, the displayglass panel 40 is also designed to be capable of displaying an image ona face corresponding to the outside of the vehicle.

FIG. 2 is a block diagram showing a structure of the in-vehicle imagedisplay apparatus 5.

As shown in FIG. 2, the in-vehicle image display apparatus 5 of thepresent embodiment is composed of the aforementioned detecting unit 80,in-vehicle unit 90 and an input/output section 95 including the displayglass panel 40. Detailed descriptions of the respective components aregiven hereinafter.

Firstly, the in-vehicle unit 90 is installed inside the vehicle 1. Thein-vehicle unit 90 includes: a CPU 30 that executes various processes; aROM 32 that stores programs (BIOS), etc. for a starting process executedby the CPU 30 when starting the in-vehicle unit 90; a RAM 34 that isused as a storage area when the CPU 30 performs various processes; ahard disk (hereinafter, referred to as HDD) 36 that stores informationtherein; a reader 37 that reads information recorded on a recordingmedium such as a CD-ROM/RAM, a DVD-ROM/RAM, etc.; a drawing processor 39that generates image data representing the state of the surroundings ofthe vehicle 1 based on data transmitted from the detecting unit 80; aframe memory 38 that stores image data generated by the drawingprocessor 39; an input/output interface (hereinafter, referred to asI/O) 20 for transmitting and receiving data to and from the detectingunit 80; and an I/O 22 for transmitting and receiving data to and fromthe input/output section 95. These components are mutually connected bya bus 50.

The detecting unit 80 includes an infrared sensor 10, a millimeter waveradar 12, an ultrasonic wave sensor 14, and a microphone 18. In eachcomponent, various data later described is detected per microscopic timeΔt.

In the detecting unit 80, the infrared sensor 10 detects infrared rayemitted from an object. Infrared ray is emitted from every object. Byspecifying the range of the emission source of infrared ray using theinfrared sensor 10, a rough profile of the object can be known. From thestrong and weak of the emitted infrared ray (strength of infrared ray isdifferent depending on temperature or properties such as thermalconductivity, etc. of the object), it is possible to estimate a roughshape, material, and others of the object. In the present embodiment, anestimation process that estimates the material (whether metal or not,for example) of the object from the strength of infrared ray is executedby a not shown microcomputer composing the infrared sensor 10. Theestimation process is a process conventionally performed in an infraredsensor. Therefore, detailed explanation is not given here. Datarepresenting estimation results, the range of the emission source ofinfrared ray detected by the infrared sensor 10, and data representingthe strength of infrared ray are transmitted to the in-vehicle unit 90.

The millimeter wave radar 12 uses millimeter wave (electric wave havinga frequency of 30 to 300 GHz) to detect a distance between theirradiation source that irradiates the millimeter wave (here, thevehicle 1) and the object, and a relative velocity of the vehicle 1 withrespect to the object. That is, a distance to the object is detectedfrom time when millimeter wave is irradiated until when the irradiatedwave is reflected on the object and returns. By detecting the distancefrom the object per a predetermined time t (t<Δt), the relative velocityto the object is also detected. Data representing the distance to theobject detected by the millimeter wave radar 12 and the relativevelocity is transmitted to the in-vehicle unit 90.

The ultrasonic wave sensor 14 irradiates ultrasonic wave to thesurroundings. The ultrasonic wave sensor 14 measures the position, size,shape and volume of the object from reflection wave of the irradiatedultrasonic wave. In the present embodiment, an ultrasonic wave sensorthat can perform three dimensional measurement is used as the ultrasonicwave sensor 14. That is, the shape of the object can be shown in threedimensions. Data representing the position, profile, shape and volume ofthe object measured by the ultrasonic wave sensor 14 is transmitted tothe in-vehicle unit 90.

The microphone 18 detects sounds of the surroundings of the vehicle 1.For example, the sounds of the surroundings are speaking voices ofpeople, animal calls, driving sounds of other vehicles or the like. Datarepresenting the detected sounds is transmitted to the in-vehicle unit90.

Each detection data detected by the detecting unit 80 and transmitted tothe in-vehicle unit 90 is received by the in-vehicle unit 90 via the I/O20 and stored in the RAM 34. At this time, the CPU 30 instructs thedrawing processor 39 to generate image data based on the detection data.The drawing processor 39 reads the detection data from the RAM 34 andgenerates image data based on the detection data. An image representedby the image data is displayed on the display glass panel 40.

The input/output section 95 includes the aforementioned display glasspanel 40, a speaker 42 that outputs sounds, and an operating section 44for supply of information.

The speaker 42 is provided to output the sounds of the surroundings viathe speaker 42 based on data representing the sounds detected by themicrophone 18 out of the aforementioned detection data. A speaker of anaudio device (not shown) ordinarily provided in the vehicle 1 may beused.

The operating section 44 is operated by the passenger of the vehicle 1.The passenger operates this operating section 44 to switch the mode ofthe display glass panel 40 between the aforementioned display mode andordinary mode. The switching can be performed per window section.

Now, explanation is given on a drawing instruction process repeatedlyperformed by the CPU 30 of the in-vehicle unit 90 by way of FIG. 3. Thisprocess is executed so as to make the drawing processor 39 generateimage data

In the drawing instruction process, it is determined firstly in S310whether detection data has been received from the detecting unit 80. Ifit is determined that detection data has been received, the processmoves to S320. The received detection data is stored in the RAM 34. Atthis time, based on sound data contained in the detection data, thesounds in the surroundings of the vehicle 1 are outputted from thespeaker 42. The sounds that can be emitted from the object representedby the detection data may be estimated, and the estimated sounds may beemitted from the speaker 42. For example, in case that another vehicleis detected, the engine sounds and honking horns estimated to be emittedfrom the other vehicle may be outputted from the speaker 42. In thiscase, the sound data representing the sounds like the engine sounds andthe honking horns may be prestored in the ROM 32 and the HDD 36. Whenthe other vehicle is detected, the sound data representing those soundsmay be read out from the ROM 32 or the HDD 36.

Subsequently, the process moves to S330. The drawing instructions togenerate image data are transmitted to the drawing processor 39. Theprocess again returns to S310.

If it is determined in S310 that the detection data has not beenreceived, the determination step of S310 is again repeated.

Now, description is given on the drawing process repeatedly executed bythe drawing processor 39 by way of FIG. 4.

In this drawing process, it is determined firstly in S410 whether thedrawing instructions have been received from the CPU 30. As previouslynoted, the drawing instructions are instructions to make this drawingprocessor 39 generate image data. The drawing instructions aretransmitted from the CPU 30 by the step of S330 in FIG. 2. When it isdetermined in S410 that the drawing instructions have not been received,the step of S410 is again executed.

When it is determined in S410 that the drawing instructions have beenreceived, the process moves to S420. The detection data is read from theRAM 34. The detection data is transmitted from the detection unit 80 andstored in the RAM 34 by the step of S320.

In subsequent S430, image data of the surroundings of the vehicle 1 isgenerated based on the detection data read out from the RAM 34 in S420.Here, particular explanation is given on a method for generating imagedata.

Firstly, as previously noted, the detection data representing a distancebetween the vehicle 1 and the object (or a position of the object) and arelative velocity is transmitted from the millimeter wave radar 12, thedetection data representing the profile, shape, and material of theobject is transmitted from the infrared sensor 10, and the detectiondata representing the profile, shape, volume and position of the objectis transmitted from the ultrasonic wave sensor 14, to the in-vehicleunit 90. These detection data are stored in the RAM 34.

The drawing processor 39 generates image data of the surroundings of thevehicle from the aforementioned detection data stored in the RAM 34. Outof data composing the image data, the data representing the profile andshape of the object is generated based on the detection data transmittedfrom both the infrared sensor 10 and the ultrasonic wave sensor 14. Thatis, an average is taken of the data representing the profile or shapetransmitted from the infrared sensor 10 and the data representing theprofile or shape transmitted from the ultrasonic wave sensor 14. Theresultant data is considered as data representing the profile or shapeof the object. With respect to data of the position of the object aswell, an average is taken of data representing the position transmittedfrom both the millimeter wave radar 12 and the ultrasonic wave sensor14. The resultant data is considered as data of the position of theobject.

In case that detection accuracy of one of the sensors (that is, theinfrared sensor 10, the ultrasonic wave sensor 14 or the millimeter waveradar) is deteriorated by disturbance, for example influence by weather,the detection data from the other sensor is adopted. There is lowprobability that the detection accuracy of the both sensors isdeteriorated at the same time. In other words, it is unlikely that thedetection accuracy of the both sensors is deteriorated at the same time.

If there is at least data of the profile, shape and position of theobject generated this way, the state of the surroundings of the vehiclecan be shown based on the data.

Specifically, in the present embodiment, the drawing processor 39estimates what the object is based on data of the material and volume ofthe object in addition to data of the profile and shape of the object.For example, it is estimated that the object is a human, a tree, or avehicle. In the present embodiment, data representing the profile,shape, material, volume, color, etc. of the object such as a tree, ahuman, or a vehicle, is stored in the ROM 32 for a plurality of kinds(or a plurality of types) of trees, humans, and vehicles. The drawingprocessor 39 associates and compares data elements of the data of theobject generated by itself with data elements of the data of the objectstored in the ROM 32. That is, the drawing processor 39 compares thedata generated by itself and the data stored in the ROM 32 respectivelyfor the data of the profile, shape, material and volume. As a result ofcomparison, the drawing processor 39 determines which of thecorresponding data stored in the ROM 32 is close to the respective datagenerated, that is, what (human, tree, or vehicle, or type thereof) isshown by the generated data of the object. The data representing theobject like a tree, a human, a vehicle, etc. may be stored in the HDD 36as a database.

By estimating the object in this manner, a colored image can begenerated. For example, if it is determined that the object indicated bythe generated data is a tree, color data is extracted from data for atree stored in the ROM 32. By adding the extracted color data to thegenerated data of the object, it is possible to display a colored imageof the object.

In the present embodiment, in case that the object is a movable bodysuch as a human, a vehicle, etc., the image of the object is highlightedand colored on the display glass panel 40 so as to be easily recognizedby the driver. Colors which easily stimulate the driver into recognitionby being highlighted may be fluorescent colors and primary colors.

In the present embodiment, estimated data for the profile (in otherwords, size) and position after a predetermined time of the detectedobject can be generated based on the data representing the relativevelocity detected by the millimeter radar 12. When displaying the imageof the object on the display glass panel 40, an image of the objectbased on the estimated data may be displayed.

In this manner, a so-called computer graphic (CG) image of the state ofthe surroundings of the vehicle 1 is generated based on the detectiondata from the detecting unit 80.

In S430, the image data is generated as mentioned above. Also, the imagedata is temporarily stored in the frame memory 38. Furthermore, theimage data is stored on the HDD by setting the in-vehicle unit 90 to apredetermined setting state via the operating section 44.

If the image data is set to be stored on the HDD 36, a passenger of thevehicle 1 can read the image data stored on the HDD 36 to view an imagelater on. That is, for example, if the image data at a drive is stored,it is possible to view and enjoy an image at the drive later on. If animage of the surroundings is stored when heading for a destination wherea traveling path is complex and easy to lose, it is possible to reviewthe image to confirm the traveling path later on. In this manner, it ispossible to reach the destination smoothly next time.

In the present embodiment, the reader 37 is provided which can read datarecorded on a recording medium such as a CD-ROM/RAM, a DVD-ROM/RAM, etc.The image data recorded on the recording medium is read through thereader 37 so that an image represented by the image data can bedisplayed on the display glass panel 40. Thus, map information togetherwith the image of the surroundings can be displayed on the display glasspanel 40, using the recording medium recording map data. Accordingly, itis convenient for the driver. Also, by using the recording mediumrecording a movie and a live image, the movie and the live image can bedisplayed on the display glass panel 40. Accordingly, the passenger canenjoy the movie and the live image in the vehicle 1.

In the present embodiment, the state of the display glass panel 40 ofthe vehicle 1 can be switched between the display mode and the ordinarymode. There are switching modes of an automatic mode for automaticswitching and a manual mode for switching based on an input from theoperating section 44. Whether to choose the automatic mode or the manualmode can be preset via the operating section 44.

In S510 continuing from S430, it is determined whether the switchingmode is the automatic mode. If it is determined that the switching modeis the automatic mode, the process moves to S520. It is determinedwhether the vehicle 1 is moving. Particularly, it is determined whetherthe velocity of the vehicle 1 is equal to zero based on detectionresults by a not shown velocity sensor provided in the vehicle 1.

If it is determined in S520 that the vehicle 1 is moving, the processmoves to S530. The display glass panel 40 is set to the display mode. Inthe present embodiment, the display glass panel 40 of all the windowsections of the vehicle 1 is set to the display mode.

In subsequent S540, an image represented by the image data generated inS430 is displayed on the display glass panel 40 (see FIG. 6). Althoughnot shown, in case that the vehicle 1 is moving backward, a rear imageof the vehicle 1 is displayed on the front display glass panel 40. Atthis time, the rear image of the vehicle 1 may be displayed on the rearwindow section (display glass panel 40) or on the side window section(s)of the vehicle 1. Alternatively, the rear image may be displayed on allthe window sections.

On the other hand, if it is determined in S520 that the vehicle 1 is notmoving, the process moves to S550. The display glass panel 40 is set tothe ordinary mode. The process returns to S410 again.

Also in S510, if it is determined that the switching mode is not theautomatic mode, that is, the switching mode is the manual mode, theprocess moves to S560. It is determined whether switching to the displaymode is made based on an input from the operating section 44. If it isdetermined that switching to the display mode is made, the process movesto S530 to set the display glass panel 40 into the display mode.

On the other hand, if it is determined in S560 that switching to thedisplay mode is not made, the process moves to S570 to determine whetherswitching to the ordinary mode is made.

If it is determined in S570 that switching to the ordinary mode is made,the process moves to S550 to set the display glass panel 40 to theordinary mode.

If it is determined in S570 that switching to the ordinary mode is notmade, the process moves to S580 to determine whether the current mode isthe display mode. If it is determined that the current mode is thedisplay mode, the process moves to S540 to display an image on thedisplay glass panel 40.

If it is determined in S580 that the current mode is not the displaymode, that is, the current mode is the ordinary mode, the processreturns again to S410.

In this drawing process, the mode of the display glass panel 40 is setbased on whether or not the vehicle is moving (S520), that is, thevelocity of the vehicle. However, a moving direction, a braking state,and others of the vehicle may be also taken into consideration. Forexample, with respect to the display glass panel 40 on the sides of thevehicle 1, if the vehicle 1 is turning to right, the display glass panel40 on the right side may be set to the display mode. If the vehicle isturning to left, the display glass panel 40 on the left side may be setto the display mode.

As previously noted, the display glass panel 40 can display an image onboth faces of the display glass panel 40. In the present embodiment, forexample, a message notifying the surroundings that the vehicle 1 carriesa baby, a message of gratitude when a path is cleared, etc. aredisplayed on the outside face of the display glass panel 40. The datarepresenting these messages and others are prestored in the ROM 32. Wheninstructions to display message information indicating the type ofmessage and the message are supplied by a passenger via the operatingsection 44, a message based on the message information is displayed onthe outside face of the display glass panel 40. The display glass panel40 may be designed such that a text of a message can be supplied throughthe operating section 44.

By displaying a message to a driver of another vehicle in the manner,mutual communication is achieved and facilitation of traffic can bepromoted. Thus, occurrence of an accident can be inhibited. The displayglass panel 40 may be also designed to display advertisement, etc.

FIG. 5 is a flowchart illustrating a flow of a collision lighteningprocess repeatedly executed by the CPU 30.

In this collision lightening process, it is determined firstly in S610whether the vehicle 1 is in a state that a collision with anothervehicle is unavoidable, particularly based on the velocity andacceleration of the vehicle 1 detected by a not shown in-vehicle sensor(e.g., velocity sensor) provided with the vehicle 1, the position,velocity or velocity relative to the vehicle 1 of another vehicledetected by the detecting unit 80, and various performance such asbraking performance and turning performance of the vehicle 1.Performance data representing the performance of the vehicle 1 isprestored in the ROM 32.

If it is determined in S610 that the vehicle 1 is in a state that acollision is unavoidable, the process moves to S620. On the other hand,if it is determined that the vehicle 1 is in a state that a collision isavoidable, the process is ended.

In S620, it is determined whether there is a collidable object in thesurroundings other than the other vehicle in a state that a collision isunavoidable. In the step of S620, a static object such as a guardrail istargeted as a collidable object.

If it is determined that there is a collidable object, the process movesto S630. On the other hand, if it is determined that there is nocollidable object, the process is ended.

In S630, the vehicle 1 is controlled so as to collide with thecollidable object. Particularly, the brake and a throttle opening (andoutput of the engine) of the vehicle 1 are controlled to adjust thevelocity of the vehicle 1. The rudder angle is controlled to adjust themoving direction of the vehicle 1. In this manner, the vehicle 1 is madeto collide with the static object. That is, the collision lighteningprocess is a process executed to avoid a collision between the vehicle 1and another vehicle in the surroundings even if the vehicle 1 is made tocollide with another static object. If this process can avoid acollision between the vehicle 1 and another vehicle, the damage can belimited even if the vehicle 1 collides with the static object.

In the present embodiment, the detection unit 80 corresponds to thestate detecting device. The drawing processor 39 corresponds to theimage generating device and the display control device. The displayglass panel 40 corresponds to the display device. The CPU 30 correspondsto the driving state detecting device. The speaker 42 corresponds to thesound output device. The HDD 36 corresponds to the storage device. Thereader 37 corresponds to the reading device. The step of S610corresponds to the collision determining device. The step of S620corresponds to the probability determining device. The step of S630corresponds to the vehicle control device.

As described in the above, in the in-vehicle image display apparatus 5of the present embodiment, the state of the surroundings of the vehicle1 is detected by the detecting unit 80. Based on the detection results,image data of the surroundings of the vehicle 1 is generated by thedrawing processor 39 of the in-vehicle unit 90 (S430 in FIG. 4). Animage (computer graphic image) indicated by the generated image data isdisplayed on the display glass panel 40 provided in the window sectionof the vehicle 1 (see S540 in FIG. 4, and FIG. 6). Accordingly, thedriver of the vehicle 1, when seeing the image displayed on the displayglass panel 40 of the window section, can easily and accuratelyunderstand the state of the surroundings of the vehicle 1. Thus, it ispossible to reliably inhibit occurrence of an accident due to a delay indanger avoidance by the driver who does not have a correct understandingof the state of the surroundings of the vehicle 1 resulting fromworsening weather or weakening eyesight of the driver.

In the present embodiment, all the window sections of the vehicle 1 arestructured as the display glass panel 40. That is, the image of thesurroundings can be displayed in all the window sections of the vehicle1. Accordingly, the driver can have more correct understanding of thestate of the surroundings. For the reasons as mentioned above,occurrence of an accident can be more reliably inhibited.

In the present embodiment, the display glass panel 40 is designed toswitch the state of the display glass panel 40 between the display modecapable of displaying an image and the ordinary mode being a state likean ordinary window. The switching can be automatically made depending onthe driving state of the vehicle 1 (automatic mode), or can be madebased on operation of the passenger of the vehicle 1 (manual mode). Inthe case of the automatic mode, an image of the surroundings isdisplayed in the window section of the vehicle 1 regardless of intentionof the driver. The driver can reliably understand the state of thesurroundings. In the case of the manual mode, the passenger can freelyenjoy a real landscape.

In the present embodiment, a speaker is provided in the vehicle 1. Thesounds in the surroundings of the vehicle 1 detected by the microphone18 of the detecting unit 80 are outputted from the speaker 42.Accordingly, the state of the surroundings of the vehicle 1 isreproduced more realistically. Thus, the driver can have more correctunderstanding of the state of the surroundings.

[Second Embodiment]

Now, the in-vehicle image display apparatus 5 of the second embodimentwill be explained by way of FIGS. 7 and 8.

In the in-vehicle image display apparatus 5 of the present secondembodiment in comparison with that of the first embodiment, the displayglass panel 40 in the window section of the vehicle 1 is designed to beswitched between a screen display mode functioning as a screen and theordinary mode like an ordinary window. In the screen display mode,lights from inside and outside of the vehicle 1 are blocked. That is,the display glass panel 40 turns into a smoky state and functions as ascreen. On the display glass panel 40 in a state of the screen displaymode, an image is projected by a projector 45 (see FIG. 7).

Especially in the present second embodiment, an image is also displayedon the inside face of A-pillars 2 (see FIGS. 1 and 6) of the vehicle 1regarded as a screen, other than the display glass panel 40 in thescreen display mode. If an image of the surroundings is displayed in thewindow section and on the A-pillars 2 of the vehicle 1, it seems as ifthere is no blind angle from the inside of the vehicle 1 (see FIG. 8).Accordingly, the driver can have a more correct understanding of thestate of the surroundings of the vehicle 1. Occurrence of an accidentcan be more reliably inhibited.

In the present second embodiment, the projector 45 and the display glasspanel 40 correspond to the display device.

An image may be projected on not only the A-pillars but B pillars andC-pillars, that is, all the pillars inside the vehicle 1. In the firstembodiment, if a display panel such as a liquid crystal display and thelike is provided in each pillar section, the same effect can beobtained.

[Third Embodiment]

Now, the in-vehicle image display apparatus 5 of the third embodimentwill be explained by way of FIG. 9.

The in-vehicle image display apparatus 5 of the present third embodimentis different from that of the first embodiment in that a CCD camera 16is used instead of the detecting unit 80. Also, in the in-vehicle unit90, a CCD interface (hereinafter, referred to as CCD I/F) 24 is providedto exchange data with the CCD camera 16 instead of the I/O 20.

Imaging data (in other words, detection data) representing an imagetaken by the CCD camera 16 is transmitted to the in-vehicle unit 90 tobe stored in the RAM 34 of the in-vehicle unit 90. The drawing processor39 adds coloring data to the imaging data (detection data) stored in theRAM 34 to generate a computer graphic image in the step of S430 in FIG.4. An image taken by the CCD camera 16 may be directly displayed on thedisplay glass panel 40.

According to the in-vehicle image display apparatus 5 of the presentthird embodiment, the state of the actual surroundings is imaged by theCCD camera 16. Thus, it is easy to generate a computer graphic imagerepresenting the state of the surroundings. Since more accurate computergraphic image for the state of the surroundings can be generated, thedriver can have a more correct understanding of the state of thesurroundings based on the image. Accordingly, occurrence of an accidentcan be more reliably inhibited.

In the present third embodiment, the CCD camera 16 corresponds to thestate detecting device.

The embodiments of the present invention are described in the above.However, the present invention should not be limited to the aboveembodiments, and can take various modes within the technical scope ofthe present invention.

For instance, the in-vehicle image display apparatus of the presentinvention can be used not just for the vehicle (private car and thelike) as shown in FIG. 1 but for the vehicle of a bus, a taxi, or arailroad.

Furthermore, the state of the surroundings may be notified to the driverby voice. In this case, for example, information of what an object is,if any, information on the size of the object, the distance, etc., orinformation concerning danger of a collision with the object may benotified to the driver by voice.

In the first embodiment or the second embodiment, a CCD camera may beincorporated into the detecting unit 80. In this case, for example, inthe day time when it is light, imaging data from the CCD camera may beused to generate a computer graphic image. In the night time when it isdark or when the weather is bad, detection data from the sensor otherthan the CCD camera may be used.

The invention claimed is:
 1. An in-vehicle apparatus, for use in avehicle, comprising: a state detecting device that detects a state ofsurroundings of the vehicle; a collision determining device thatdetermines whether the vehicle is incapable of avoiding a collision withan other vehicle based on detection results from the state detectingdevice; a probability determining device that, if it is determined bythe collision determining device that the collision with the othervehicle is unavoidable, determines whether there is a collidable staticobject with which the vehicle can collide before colliding with theother vehicle with which the collision is unavoidable, based on thedetection results from the state detecting device; and a vehicle controldevice that, if it is determined by the probability determining devicethat there is a collidable static object, controls the vehicle so as tocollide with the static object.
 2. The in-vehicle apparatus according toclaim 1, further comprising: a storage device that stores performancedata representing performance of one of the vehicle and the othervehicle, wherein the collision determining device makes a determinationusing the performance data stored by the storage device.
 3. Thein-vehicle apparatus according to claim 2, wherein the storage devicestores data representing a braking performance of the vehicle as theperformance data, and wherein the collision determining device makes adetermination using the data representing the braking performance of thevehicle.
 4. The in-vehicle apparatus according to claim 2, wherein thestorage device stores data representing a turning performance of thevehicle as the performance data, and wherein the collision determiningdevice makes a determination using the data representing the turningperformance of the vehicle.
 5. The in-vehicle apparatus according toclaim 1, wherein the state detecting device includes at least one deviceselected from a group consisting of an infrared sensor, amillimeter-wave radar, an ultrasonic sensor and a microphone.
 6. Thein-vehicle apparatus according to claim 1, wherein the vehicle controldevice controls a brake, an output of a power source and a steeringangle of the vehicle.